Planning for Multi-stage Forceful Manipulation
Rachel Holladay,Tomás Lozano-Pérez,Alberto Rodriguez,Rachel Holladay,Tomás Lozano-Pérez,Alberto Rodriguez
Multi-stage forceful manipulation tasks, such as twisting a nut on a bolt, require reasoning over interlocking constraints over discrete and continuous choices. The robot must choose a sequence of discrete actions, or strategy, such as whether to pick up an object, and the continuous parameters of each of those actions, such as how to grasp that object. In forceful manipulation tasks, the force re...
